Frequency Response of a LTI System

Lecture 8 Frequency Response

(Lathi 4.8 4.9)

We have seen that LTI system response to x(t)=est is H(s)est. We represent such input-output pair as: st st

e H (s)e

Instead of using a complex frequency, let us set s = j, this yields:

e jt H ( j )e jt cos t = Re(e jt ) Re[ H ( j )e jt ]

It is often better to express H(j) in polar form: Therefore

Peter Cheung Department of Electrical & Electronic Engineering Imperial College London URL: www.ee.imperial.ac.uk/pcheung/teaching/ee2_signals E-mail: p.cheung@imperial.ac.uk
PYKC 8-Feb-11 E2.5 Signals & Linear Systems Lecture 8 Slide 1

H ( j) = H ( j) e jH ( j )
cos t H ( j) cos[t + H ( j)]

Frequency Response Phase Response

L4.8 p423

Amplitude Response
PYKC 8-Feb-11 E2.5 Signals & Linear Systems

Lecture 8 Slide 2

Frequency Response Example (1)

Frequency Response Example (2)

H ( j ) =

Find the frequency response of a system with transfer function: s + 0.1 H ( s) = s+5 Then find the system response y(t) for input x(t)=cos2t and x(t)=cos(10t-50) Substitute s=j

2 + 0.01 + 25
2

1 ( j ) = H ( j ) = tan 1 tan 0.1 5

H ( j ) =

j + 0.1 j + 5

H ( j ) =

2 + 0.01 + 25
2

1 and H ( j ) = ( j ) = tan 1 tan 0.1 5

for input x(t)=cos2t and x(t)=cos(10t-50)

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Frequency Response Example (3)

Frequency Response Example (4)

For input x(t)=cos2t, we have:

H ( j 2) =

22 + 0.01 22 + 25

= 0.372

2 1 2
( j 2) = tan 1 tan = 65.3 0.1 5

For input x(t)=cos(10t-50), we will use the amplitude and phase response curves directly:

H ( j10) = 0.894

Therefore

y(t ) = 0.372cos(2t + 65.3
)

( j10) = H ( j10) = 26

Therefore

y(t ) = 0.894cos(10t 50
+ 26
) = 0.894cos(10t + 24
)

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Lecture 8 Slide 5

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Lecture 8 Slide 6

Frequency Response of delay of T sec

Frequency Response of an ideal differentiator

H(s) of an ideal T sec delay is:

H(s) of an ideal differentiator is:

H (s) = e sT

(Time-shifting property)

H (s) = s and H ( j ) = j = e j / 2
Therefore

Therefore

H ( j ) =

and

H ( j ) =

H ( j) = e jT = 1

and

( j) = T

This agrees with:

That is, delaying a signal by T has no effect on its amplitude. It results in a linear phase shift (with frequency), and a gradient of T. The quantity:

d (cos t ) = sin t = cos(t + / 2) dt

d ( ) = g =T d

Thats why differentiator is not a nice component to work with it amplifies high frequency component (i.e. noise!).

is known as Group Delay.

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Frequency Response of an ideal integrator

Bode Plot Sketching frequency response
.. without (much) calculation (1)

H(s) of an ideal integrator is:

Consider a system transfer function:

s s + 1 + 1 a a K ( s + a1 )( s + a2 ) Ka a 1 2 = 1 2 H (s) = s ( s + b1 )( s 2 + b2 s + b3 ) b1b3 s s2 b s + 1 + 2 s + 1 b b b 1 2 3

H ( s) =

Therefore

1 1 j 1 j / 2 and H ( j ) = = = e s j

H ( j ) =

This agrees with:

and

H ( j ) = 1

2

The POLES are roots of the denominator polynomial. In this case, the poles of the system are: s=0, s=-b1 and the solutions of the quadratic

Thats why integrator is a nice component to work with it suppresses high frequency component (i.e. noise!).

cos t dt = sin t = cos(t / 2)

( s 2 + b2 s + b3 ) = 0

which we assume to be complex conjugates values. The ZEROS are roots of the numerator polynomial. In this case, the zeros of the system are: s =-a1, s=-a2.
L4.9 p430

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Lecture 8 Slide 10

Bode Plot Sketching frequency response
.. without (much) calculation (2)

Building blocks for Bode Plots amplitude (1)

Now let s=j,

Ka a H ( j ) = 1 2 b1b3 j 1 +

1+

j j 1+ a1 a2

Pole term

20log j

b ( j ) 2 j 1+ j 2 + b1 b3 b2

Zero term +20log j Pole term 20 log 1 +

for
a ,

Express this as decibel (i.e. 20 log()):

zeros at a1 and a2

j a

= a/2
For s+a

= 2a

poles at 0
for
a ,

constant term

conjugate poles

poles at b1

Now amplitude response (in dB) is broken into building block components that are added together.
E2.5 Signals & Linear Systems Lecture 8 Slide 11

at = a,
20log 1 + j = 20log( 2) 3dB
PYKC 8-Feb-11 E2.5 Signals & Linear Systems

For

1 s+a

20dB

1 decade
Lecture 8 Slide 12

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Building blocks for Bode Plots amplitude (2)

Building blocks for Bode Plots amplitude (3)

Now consider the quadratic poles: s 2 + b2 s + b3 2 Better to express this as: s 2 + 2 jn s + n

damping factor natural frequency

Elsewhere, the exact log amplitude is:

The log magnitude response is:

weak dampling

strong dampling

40dB

1 decade

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Bode Plots Example amplitude (1)

Bode Plots Example amplitude (2)

Consider this transfer function: We re-write this as

Step 1: Establish where x-axis crosses the y-axis

Since the constant term is 100 = 40dB, x-axis cut the vertical axis at 40.

Step 2: For each pole and zero term, draw an asymptotic plot.
We need to draw straight lines for zeros at origin and =100. We need to draw straight line for poles at =2 and =10.

Step 3: Add all the asymptotes. Step 4: Apply corrections if necessary.

E2.5 Signals & Linear Systems Lecture 8 Slide 15 PYKC 8-Feb-11 E2.5 Signals & Linear Systems Lecture 8 Slide 16

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Building blocks for Bode Plots Phase (1)

Building blocks for Bode Plots Phase (2)

Now consider phase response for the earlier transfer function:

Ka a H ( j ) = 1 2 b1b3 1+ j 1 + j j 1+ a1 a2

Pole term

b ( j ) 2 j 1+ j 2 + b1 b3 b2

Pole term
= a /10
For s+a

= 10a

Therefore:

for
a ,

for
a ,

Again, we have three type of terms.

For

1 s+a

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Lecture 8 Slide 18

Building blocks for Bode Plots Phase (3)

Bode Plots Example phase (1)

2nd order poles: s 2 Phase response is:

2 + 2 jn s + n

Consider this again:

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Lecture 8 Slide 20

Relating this lecture to other courses

You will be applying frequency response in various areas such as filters and 2nd year control. You have also used frequency response in the 2nd year analogue electronics course. Here we explore this as a special case of the general concept of complex frequency, where the real part is zero. You have come across Bode plots from 2nd year analogue electronics course. Here we go deeper into where all these rules come from. We will apply much of what we done so far in the frequency domain to analyse and design some filters in the next lecture.

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Lecture 8 Slide 21